optimization_algorithm.cpp
Go to the documentation of this file.
1 // g2o - General Graph Optimization
2 // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
3 // All rights reserved.
4 //
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are
7 // met:
8 //
9 // * Redistributions of source code must retain the above copyright notice,
10 // this list of conditions and the following disclaimer.
11 // * Redistributions in binary form must reproduce the above copyright
12 // notice, this list of conditions and the following disclaimer in the
13 // documentation and/or other materials provided with the distribution.
14 //
15 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
16 // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
17 // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
18 // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
19 // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
20 // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
21 // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
22 // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
23 // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
24 // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 
27 #include "optimization_algorithm.h"
28 
29 using namespace std;
30 
31 namespace g2o {
32 
33 OptimizationAlgorithm::OptimizationAlgorithm() :
34  _optimizer(0)
35 {
36 }
37 
39 {
40 }
41 
42 void OptimizationAlgorithm::printProperties(std::ostream& os) const
43 {
44  os << "------------- Algorithm Properties -------------" << endl;
45  for (PropertyMap::const_iterator it = _properties.begin(); it != _properties.end(); ++it) {
46  BaseProperty* p = it->second;
47  os << it->first << "\t" << p->toString() << endl;
48  }
49  os << "------------------------------------------------" << endl;
50 }
51 
52 bool OptimizationAlgorithm::updatePropertiesFromString(const std::string& propString)
53 {
54  return _properties.updateMapFromString(propString);
55 }
56 
58 {
60 }
61 
62 } // end namespace
const SparseOptimizer * optimizer() const
return the optimizer operating on
PropertyMap _properties
the properties of your solver, use this to store the parameters of your solver
SparseOptimizer * _optimizer
the optimizer the solver is working on
bool updatePropertiesFromString(const std::string &propString)
void setOptimizer(SparseOptimizer *optimizer)
virtual std::string toString() const =0
bool updateMapFromString(const std::string &values)
Definition: property.cpp:88
void printProperties(std::ostream &os) const


orb_slam2_with_maps_odom
Author(s): teng zhang
autogenerated on Fri Sep 25 2020 03:24:47